JPH10232131A - Travel-type real-time surveying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a portable travel-type real-time surveying device. SOLUTION: A portable antenna device 11 for receiving a radio wave from a GPS satellite and a portable relay device 33 for transmitting a reception GPS signal by the antenna device 11 as a relay signal that is carried on a carrier wave are positioned on a ground measurement point B that is remote from a permanent station 1 of known ground coordinates A. A permanent signal reception device 34 with a permanent antenna 4 for receiving a radio wave from the GPS satellite and a relay signal from the relay device 33 are provided at the permanent station 1 and the three-dimensional coordinates of a portable antenna device 11 are calculated by a coordinate calculation means 20 from the reception GPS signal of the permanent antenna 4 and the reception GPS signal of the portable antenna device 11 that is received via the relay device 33 and the known coordinates A. The calculated three- dimensional coordinates are transmitted as a coordinate signal from a transmitter 6 of the permanent station 1 and a coordinate signal received from the portable receiver 10 is displayed in real time by a portable display means 31.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a mobile real-time surveying device, and more particularly to a GPS (Global Positioning System).
The present invention relates to a device for measuring the three-dimensional coordinates of a ground surface measurement point in real time by using m).

[0002]

2. Description of the Related Art In reference point surveying and general position surveying performed in accordance with the precision geodetic network altitude reference point surveying work regulations issued by the Geospatial Information Authority of Japan, a surveying / positioning technique using a satellite surveying system (hereinafter referred to as GPS surveying). ) Has been developed.
GPS surveys are multiple GPS orbits in a circular orbit around the earth.
A radio wave from a satellite (hereinafter sometimes simply referred to as a satellite) is received by a GPS antenna at a measurement point on the earth, and three-dimensional coordinates of the measurement point are obtained from the received information. GP
In S surveying, not one point positioning using one GPS antenna, but an interference measurement position whose measurement accuracy is improved by using a plurality of GPS antennas at the same time is used. In addition, the GPS survey includes a static method in which a GPS antenna is installed in several places for about 30 minutes to 1 hour and post-processing of collected data to determine a position, and a kinematic method in which the position of the GPS antenna is determined in real time (hereinafter, referred to as a “kinematic method”). Real-time method.)

FIG. 4 shows an example of a conventional real-time surveying method using an interference measurement position. In the figure, the known position A on the ground surface
The fixed station 1 is provided with the GPS antenna 4, the coordinate calculating means 20A and the transmitter 6, and the worker 2 holds the GPS antenna 5, the coordinate calculating means 20B, the receiver 10 and the display means 22 and moves to the measuring point B. . Radio signals (hereinafter, sometimes referred to as GPS signals) from a plurality of satellites are simultaneously received by each of the GPS antennas 4 and 5, and the GPS signals received by the antennas 4 are measured at measurement points via the transmitter 6 and the receiver 10. B, and the coordinate calculating means 20B transmits the received GPS signal of the antenna 4 and the antenna 5
3D vector from the known position A to the measurement point B based on the received GPS signal (hereinafter, referred to as an inter-AB vector).
Is calculated, the three-dimensional coordinates of the measurement point B are calculated based on the inter-AB vector and the known coordinates of the known position A, and displayed on the display means 22 in real time. An example of the coordinate calculation means 20A and 20B is a computer with a built-in GPS surveying program, and an example of the display means 22 is a notebook computer. Reference numeral 19 in the figure
A and 19B indicate batteries of the coordinate calculation means 20A and 20B, respectively.

In the real-time survey shown in FIG. 4, it is necessary for the worker 2 to accurately position the GPS antenna 5 at the measurement point B on the ground. The present inventors have proposed an antenna 5
Has developed a real-time surveying device for the ground coordinates that can be easily aligned with the measurement point B, and disclosed it in Japanese Patent Application No. Hei 8-092656. 5 and 6 show an example of the surveying device. The surveying device shown in the figure is a range finder for measuring the height from the GPS antenna 5 and the ground surface.
14, a holding member 15 for holding the holding member 15, a portable support 16 for holding the holding member 15, and a posture of the holding member 15 such that the distance meter 14 is vertically downward on the portable support 16. The attitude maintaining means 18 is connected to the antenna 5, the distance meter 14 and the receiver 10, and the GPS signal received by the antenna 5 and the receiver 10
And a coordinate calculating means 20 for calculating three-dimensional coordinates of a vertical ground surface position of the antenna 5 based on the reception signal at the above, the height signal h from the distance meter 14 and the predetermined interval d. According to the surveying device of FIG. 4, the worker 2 can efficiently and easily align the antenna 5 with the measurement point B, and the reference point surveying by one worker becomes possible.

[0005]

However, in the surveying method shown in FIGS. 4 to 6, since the measurer 2 must carry many heavy equipments and move, it may be difficult to perform surveying over a wide area. For example, the measurer 2 in FIG.
With battery 19B and receiver 10, GP with one hand
A very difficult posture such as holding the S antenna 5 for positioning and holding the display means 22 with the other hand is forced. Performing surveying work over a wide area in such a posture is severe, and it is expected that work efficiency will be significantly reduced due to fatigue.

An object of the present invention is to provide a mobile real-time surveying device which is easy to carry.

[0007]

Referring to the embodiment of FIG. 1, the mobile real-time surveying apparatus of the present invention is electrically connected to a portable antenna apparatus 11 for receiving radio waves from GPS satellites. A portable relay device 33 for transmitting a GPS signal received by the portable antenna device 11 as a relay signal on a carrier wave, a radio wave from a GPS satellite installed in the fixed station 1 at the known coordinates A on the ground surface, and a relay signal from the relay device 33 The fixed receiving device 34 with the fixed antenna 4 receives the GPS signal received by the fixed antenna 4 in the fixed station 1, the GPS signal received by the portable antenna device 11 received via the relay device 33, and the known coordinates. It has a coordinate calculating means 20 for calculating three-dimensional coordinates of the antenna device 11, a transmitter 6 for transmitting the calculated three-dimensional coordinates from the fixed station 1 as a coordinate signal, and a portable receiver 10 for receiving the coordinate signal. It is made of comprises a portable display unit 31 for displaying a coordinate signal received by the receiver 10.
In use, the three-dimensional coordinates of the measurement point B are measured in real time by positioning the portable antenna device 11 on the ground surface measurement point B remote from the fixed station 1 under the connection with the portable relay device 33, and the portable antenna device 11 is portable. It is displayed on the display means 31.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Comparing FIG. 1 which is an embodiment of the present invention with FIG. 3 which is a prior art, in the present invention, both the coordinate calculating devices 20A and 20B are installed in the fixed station 1 and the worker 2 is provided. The portable antenna device 11 with the GPS antenna 5 is held, and the coordinate calculation device 20B and the GPS antenna 5 are connected wirelessly with the portable relay device 33 and the fixed receiving device. That is, the worker 2 does not need to hold the relatively heavy coordinate calculation means 20B and the battery 19B in the GPS surveying, but only needs to hold the relatively light portable relay device 33. The burden on the user can be reduced.

An example of an interference measurement position in the GPS survey is a GPS measurement.
The inter-AB vector is determined using the signal wavelength (wavelength λ = about 20 cm). That is, the GPS signals are received by the GPS antennas 4 and 5 at the known position A and the measurement point B, the transmission time included in the signal is obtained, and the clocks of the coordinate calculating means 20A and 20B are changed based on the transmission times. , And the integrated value Ax of the number of reception waves of the GPS signal until a predetermined reception time is reached.
Bx is measured by each of the coordinate calculation means 20A and 20B. By calculating the product (Ax-Bx). [Lambda] of the difference (Ax-Bx) of the number of waves received from the predetermined satellite Sx and the wavelength [lambda], the distance between the satellites Sx in the radio wave arrival direction (Sx direction distance) is obtained. . Similarly, AB in the direction of arrival of radio waves from other satellites Sy, Sz ...
By calculating the distance in the Sy direction, the distance in the Sz direction,.

A GPS signal from a satellite includes an L1 band (1575.42M
Hz) and the L2 band (1227.60 MHz), but in the present invention, if a portable repeater 33 and a fixed receiver 34 having a frequency of 2 GHz or more are used, for example, the L1 band from the satellite and / or
The carrier signal is modulated by the portable repeater 33 with the L2 band GPS signal and demodulated by the fixed receiving device 34, so that the L1 band and / or L2 band GPS signal received by the portable antenna device 11 is directly used as the fixed station 1 Can be transmitted to the coordinate calculation means 20B.
In FIG. 1, the coordinate calculating means 20A and 20B are electrically connected to each other, the coordinate calculating means 20A obtains the integrated value Ax of the number of received waves from the received GPS signal of the antenna 4, and the coordinate calculating means 20B is demodulated by the fixed receiving device. Integrated value of the number of received waves from the extracted GPS signal
Bx is obtained, the integrated value Ax is sent from the coordinate calculating means 20A to the coordinate calculating means 20B, and the AB vector is calculated by the coordinate calculating means 20B. That is, also in FIG. 1, the interference measurement position is executed in the same manner as in the case of FIG.

The coordinate calculating means 20B determines the three-dimensional coordinates of the measurement point B from the inter-AB vector and the known coordinates of the known position A, and outputs the determined three-dimensional coordinates to the transmitter 6 electrically connected to the coordinate calculating means 20B. Is transmitted as a coordinate signal on a carrier of a predetermined channel. The worker 2 at the moving position B receives the carrier wave of the predetermined channel by the portable receiver 10, displays the received coordinate signal on the portable display means 31, confirms the three-dimensional coordinates of the moving position B, and Perform a survey.

The portable relay device 33, the portable receiver 10, and the portable display unit 31 can be sufficiently reduced in size and weight as compared with the coordinate calculation unit 20B and the battery 19B. Therefore, according to the surveying device of the present invention, it is possible to reduce the fatigue of the worker 2 and improve the working efficiency in the GPS real-time surveying. In FIG. 1, two batteries are provided in the fixed station 1.
19A and 19B are required, but there is no problem since the fixed station 1 can use a generator and the like.

Thus, the object of the present invention is to provide a "mobile real-time surveying device which is easy to carry".

[0014]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS In the embodiment shown in FIG. 1, both hands of an operator 2 can be carried by using a backpack 13 containing a portable relay device 33 and a portable receiver 10 and a portable display means 31 of a head mount type. It is released for the antenna device 11 to improve work efficiency. An example of the portable antenna device 11 includes a holding member 15 for holding the GPS antenna 5 and the distance meter 14 shown in FIG.
The portable support 16 includes a portable support 16 for holding the support 15, and a posture maintaining unit 18 for maintaining the posture of the holding member 15 on the portable support 16. FIG. 6 shows an example of the attitude maintaining means 18 in a state before mounting the antenna. The posture maintaining means 18 shown in FIG.
1st axis which penetrates the holding member 15 at right angles to the axis of the measurement direction
A first pair of shafts 25a and 25b projecting outward from the opposite side edge of the holding member 15 along L1, an intermediate annular member 26 pivotally supporting both ends of the first pair of shafts 25a and 25b, and measurement of the distance meter 14 A second axis passing through the intermediate annular member 26 at right angles to the direction axis and the first axis L1
A second pair of shafts 27a and 27b projecting outward from the opposite side edge of the intermediate annular member 26 along L2, and bearings 28a and 27 on the portable support 16 that pivotally support both ends of the second pair of shafts 27a and 27b. 28b. The distance meter 14 is, for example, a light wave distance meter,
The light wave of the light wave distance meter maintained vertically downward by the portable
By the movement of 16, the light can be incident on the measurement point B and aligned. The portable receiver 10 can be, for example, a specific low-power wireless device with a small battery.

The portable display means 31 shown in FIG. 1 includes an input means 23 (see FIG. 5) for inputting coordinates of a target position in three-dimensional coordinates on the ground, and an image for creating an image in a coordinate system having the target position coordinates as the origin O. The creation means 30, a display 32 for displaying a coordinate system image, and a three-dimensional coordinate of the coordinate signal received by the receiver 10 are converted into coordinates on the coordinate system and displayed on the display 32 as a relative position S with respect to the origin O. It has a conversion means 24 (see FIG. 5). The target position refers to, for example, the coordinates of a measurement point determined on a design drawing in construction surveying or the like. FIG. 3 shows an example of a coordinate system image displayed on the display 32. In the image of FIG. 3, an XY coordinate system having the target coordinates as the origin O is displayed, and a triangle is displayed at the relative position S obtained by converting the three-dimensional coordinates of the measurement point B into the XY coordinate system by the conversion means 24. The worker 2 performing the surveying efficiently moves the portable antenna device 11 such that the triangle displayed on the display 32 overlaps the origin O of the XY coordinates, thereby efficiently positioning the antenna 5 vertically above the target position. be able to.

An example of the image creating means 30 is a computer storing an image creating program, and the display 32 can be, for example, a see-through type one-eye head mounted display. The see-through type is a display that allows an image on the liquid crystal panel and the outside world to be viewed in an overlapped manner, for example, by electronically switching the liquid crystal panel. By using one eye, the outside world can always be observed by the other eye. If the coordinates of a plurality of target positions are stored in the memory of the image creating means 30 in advance, the coordinates of the target positions in the memory can be called in a predetermined order to guide the surveyor to the target positions in the predetermined order. Can also.

FIG. 2 shows an embodiment in which a relay device 8 is provided between the fixed station 1 and the worker 2. The coordinate signal is transmitted from the transmitter 6 of the fixed station 1 on the carrier of the first relay channel CH1,
N-number of the relay device 8 (n is a natural number of 1 or more) first 2n relay channel CH2n arrival range to receive the coordinate signal and the coordinate signal specific carrier of the first relay channel CH1 sent on a carrier of a ₁ ~ 8 _n have been installed. Worker 2 has a receiver
10, the carrier wave of either the relay channel CH1 or CH2n is selectively received and can be used for calculating three-dimensional coordinates. According to the embodiment of FIG. 2, by appropriately arranging the relay device 8, the coordinate signal can be transmitted to the receiver 10 of the worker 2 via the appropriate relay device 8 even under a complicated terrain or a change in weather conditions. Since transmission can be performed reliably, interruption of reception and occurrence of measurement failure can be avoided. Although FIG. 2 shows the relay of the coordinate signal from the fixed station 1, it is also possible to relay the relay signal between the portable relay device 33 of the worker 2 and the fixed receiving device 34 of the fixed station 1 in the same manner. .

[0018]

As described above, according to the mobile real-time surveying apparatus of the present invention, the portable GPS antenna device and the portable relay device are moved to the measurement point, and the fixed GPS antenna and the fixed receiving device are transmitted to the fixed station. The three-dimensional coordinates of the portable antenna device were calculated at the fixed station from the received GPS signal of the fixed antenna, the received GPS signal of the portable antenna device received via the relay device, and the known coordinates of the fixed station. Since the three-dimensional coordinates are transmitted from the transmitter as coordinate signals, and the three-dimensional coordinates of the measurement points are displayed on the portable display unit with the portable receiver for receiving the coordinate signals, the following remarkable effects are obtained.

(A) In real-time surveying, the size and weight of the device that moves to the measurement point can be reduced.
Workers' labor in surveying can be reduced. (B) The work efficiency in the GPS survey can be improved. (C) By relatively displaying the target position and the three-dimensional coordinates of the measurement point, the surveying device can be efficiently moved to the target position on the design drawing and positioned accurately.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of one embodiment of the present invention.

FIG. 2 is an explanatory diagram of another embodiment of the present invention.

FIG. 3 is an explanatory diagram of an example of a display of a portable display unit.

FIG. 4 is an explanatory diagram of a conventional real-time surveying method.

FIG. 5 is an explanatory diagram of a conventional real-time surveying device.

FIG. 6 is an explanatory view of a posture maintaining means of the apparatus of FIG. 5;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Fixed station 2 ... Worker 4, 5 ... GPS antenna 6 ... Transmitter 8 ... Relay device 10 ... Receiver 11 ... Portable antenna device 13 ... Backpack 14 ... Distance meter 15 ... Holding member 15a ... Weight 16 ... Portable support 18 ... Position maintaining means 19 ... Battery 20 ... Coordinate calculation means 21 ... Memory 22 ... Display means 23 ... Input means 24 ... Conversion means 25 ... First shaft pair 26 ... Intermediate annular member 27 ... Second shaft pair 28 ... bearing 30 ... image creating means 31 ... portable display means 32 ... display 33 ... portable relay device 34 ... fixed receiving device A ... known position B ... measuring point

Claims (6)

[Claims] A portable relay device electrically connected to a portable antenna device for receiving a radio wave from a GPS satellite and transmitting a GPS signal received by the portable antenna device as a relay signal on a carrier, a known ground surface. The GP installed at a fixed station of coordinates
A fixed receiving device with a fixed antenna for receiving a radio wave from the S satellite and a relay signal from the relay device, a GPS signal received by the fixed antenna at the fixed station, and a portable antenna device received via the relay device. Coordinate calculating means for calculating three-dimensional coordinates of the portable antenna device from a received GPS signal and the known coordinates, a transmitter for transmitting the calculated three-dimensional coordinates as a coordinate signal from the fixed station, and receiving the coordinate signal A portable receiver that has a portable receiver that displays coordinate signals received by the receiver, and that the portable antenna device is connected to the portable relay device and that the ground surface measurement is separated from the fixed station. A mobile real-time surveying device which measures the three-dimensional coordinates of the measurement point in real time by positioning the measurement point on the point and displays it on the portable display means. 2. The surveying device according to claim 1, wherein the carrier is modulated by a GPS signal received by the portable antenna device in the portable relay device, and the modulated carrier signal is demodulated in the fixed receiving device. A mobile real-time surveying device that extracts a GPS signal received by the portable antenna device. 3. The surveying device according to claim 1, wherein the portable antenna device holds a portable antenna for receiving a radio wave from a GPS satellite and a distance meter for measuring a height from the ground at predetermined intervals. A holding member that holds the holding member, a portable support that holds the holding member, and a posture maintaining unit that maintains the posture of the holding member so that the distance meter is vertically downward on the portable support. Transmitting a GPS signal received by an antenna and a height signal from the distance meter from the portable relay device,
Received GP at the fixed antenna by the coordinate calculation means
A mobile type that calculates three-dimensional coordinates of a ground measurement point vertically below the portable antenna based on the S signal, the GPS signal received by the portable antenna, the known coordinates, the height signal, and the predetermined interval. Real-time surveying equipment. 4. The mobile real-time surveying instrument according to claim 3, wherein said distance meter is a light wave distance meter, and said ground surface measuring point is a ground surface position on which a light wave of said distance meter is incident. 5. A surveying apparatus according to claim 1, wherein said portable display means inputs a coordinate of a target position in three-dimensional coordinates on the ground, and a coordinate system having said target position coordinate as an origin. Image creating means for creating an image, a display for displaying the coordinate system image, and three-dimensional coordinates of the coordinate signal received by the portable receiver are converted into coordinates on the coordinate system and the origin is displayed on the display with respect to the origin. A mobile real-time surveying device provided with conversion means for displaying as a relative position. 6. A mobile real-time surveying apparatus according to claim 5, wherein said display is a see-through type head mounted display for one eye.